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Abstract For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control ...

Abstract This paper proposes a new lexicographic multi-objective model predictive control (MoMPC) scheme for constrained nonlinear systems with changing objective prioritization. The lexicographic optimization-based receding horizon optimal control problem is firstly formulated to accommodate the concern on prioritized control of multiple (economic) objectives. Then an elaborate generic function and the notion of general terminal constraints are introduced to regain feasibility of lexicographic MoMPC in the presence of constraints and changing objective prioritization. Moreover, the LaSalle i...